PID control of quadrotor UAVs: A survey

Many effective watermarking algorithms have been proposed and implemented for digital images and digital video, however, few algorithms have been proposed for audio watermarking. This is due to the fact that, the human audio system is far more complex and sensitive than the human visual system. In this paper, we describe an imperceptible and robust audio watermarking algorithm based on the discrete wavelet transform. Performance of the algorithm has been evaluated extensively, and simulation results are presented to demonstrate the imperceptibility and robustness of the proposed algorithm.

DWT-Based Audio Watermarking

In this paper, we propose a semi-blind, imperceptible, and robust digital audio watermarking algorithm. The proposed algorithm is based on cascading two well-known transforms: the discrete wavelet transform and the singular value decomposition. The two transforms provide different, but complementary, levels of robustness against watermarking attacks. The uniqueness of the proposed algorithm is twofold: the distributed formation of the wavelet coefficient matrix and the selection of the off-diagonal positions of the singular value matrix for embedding watermark bits. Imperceptibility, robustness, and high data payload of the proposed algorithm are demonstrated using different musical clips.

/pdf/an-imperceptible-and-robust-audio-watermarking-algorithm-2mgakyowqz.pdf

An imperceptible and robust audio watermarking algorithm

In this paper, a new audio watermarking scheme operating in the frequency domain and based on neural network architecture is described. The watermark is hidden into the middle frequency band after performing a Discrete Cosine transform (DCT). Embedding and extraction of the watermark are based on the use of a back-propagation neural network (BPNN) architecture. In addition, the selection of frequencies and the block hiding the watermark are based on a preliminary study of the effect of MP3 compression at several rates on the signal. Experimental results show that the proposed technique presents good robustness and perceptual quality results. We also investigate the application of the proposed technique in video watermarking. Traditional techniques have used audio channel as supplementary embedding space and adopt state-of-the art techniques that resist to MP3 compression attack. In these techniques, the MPEG compression attack is only evaluated on the video part and the audio part is kept unaffected. In this paper, we adapt the preliminary MP3 study to video watermarking technique but with a preliminary study of the MPEG compression applied to the audio channel. Here again, we notice that the application of the preliminary MPEG study to the audio channel improves the robustness of the video watermarking scheme though keeping high-quality watermarked video sequences.

A new DCT audio watermarking scheme based on preliminary MP3 study

This paper proposes a state-of-the-art method of digital-audio watermarking, based on the properties of the human cochlear. It is based on the concept of embedding inaudible watermarks (e.g., copyright data) into an original sound by controlling the phase characteristics of the sound in relation to the characteristics of cochlear delay. The method involves two processes, i.e., embedding and detecting data. The data-embedding process was carried out by applying two types of IIR all-pass filters with cochlear delays, and then selecting the filtered signal from these according to the watermarks. The data-detection process involved estimating the group delay of the filter from the phase difference between the original and watermarked sounds to detect the embedded data. We designed optimal group delays for the filters. We experimentally evaluated the proposed method by carrying out subjective detection tests, two objective detection tests (PEAQ and LSD), bit-detection tests, and three objective tests for robustness (against down sampling, amplitude compression, and mp3-compression). We also comparatively evaluated the proposed method with four other methods (LSB, DSS, ECHO, and PPM). The results revealed that subjects could not detect the embedded data in any of the watermarked sounds we used, and that the proposed approach could precisely and robustly detect the embedded data from the watermarked sounds.

/pdf/method-of-digital-audio-watermarking-based-on-cochlear-delay-27p1qpz3v1.pdf

Method of digital-audio watermarking based on cochlear delay characteristics

This study investigates the performances of a variety of audio watermarking techniques designed in time, frequency and cepstrum domains. A framework of comparison is performed with respect to bit error rate (BER), objective and subjective perceptual quality, computational complexity and robustness to signal processing such as low-pass filtering, requantization and MPEG Layer 3 (MP3) compression. It is observed that the cepstrum domain technique is superior to other techniques in terms of almost all criteria. Additionally, a new watermark embedding technique is introduced that combines frequency hopping spread spectrum (FHSS) and frequency masking (FM) techniques. It is experimentally concluded that the proposed technique performs fairly well and is robust to MP3 compression.

Performance evaluation of digital audio watermarking techniques designed in time, frequency and cepstrum domains

This study is a part of a project where we target determining discriminative features to define diseases that cause disorders in the human vestibular system. For this purpose we aim to analyze the gait of the person. Among a number of parameters used for gait analysis, some make use of the footand knee positions. Hence the exact determination of position is of great importance. Here we use inertial sensors (IMU) placed on foot and knee in order to calculate the displacement by double integrating the free acceleration output data of the sensor. Thus, the overall position accuracy is highly dependent on the accuracy of the acceleration data where the offset and drift play great role in its corruption. We propose a method to minimize the error due to sensor offset and drift by utilizing the fact that there are gait intervals where the foot rests. The results are promising that the calculated average error is low; though the standard deviation needs some further amendment.

IMU Acceleration Drift Compensation for Position Tracking in Ambulatory Gait Analysis.

Effective accelerometer test beds for output enhancement of an inertial navigation system

In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers’ performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller’s overall performance is remarkably superior to that of a single PID or LQR controller.

Hyperbolic Tangent Adaptive LQR+PID Control of a Quadrotor

This study contains the design and simulation of a MEMS switch for a micro piezoelectric voltage generator system. This switch is electro-statically actuated by the voltage generated by the micro piezoelectric system that has a low range as 0.6–1V. Thus, an optimization is required to decide the size of the switch and the material to be used that are suitable for pull-in voltage range. In this optimization, a closed form model of pull-in voltage is used. The switch should work far away from resonant frequencies. Due to this constraint, a resonant frequency analysis must be investigated and it is required to decide which sizes and materials are convenient. Also, the system needs an ideal switch meaning that it should have a low resistance. What is more, we want the switch to have a hysteretic behavior meaning that pull-in and pull-out voltages should be different. As the system will work in a vibrating environment, not only electrical but also mechanical analyses like tip deflection analysis and response under instant accelerations play a big role to decide whether the switch pulls in below the required voltage, or not.

http://ieeexplore.ieee.org/iel5/5351135/5354996/05355263.pdf

Design and simulation of a micro-electro-mechanical switch

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